System and method for measuring grain cart weight

ABSTRACT

A system of improved weighing utilizes accelerometers to compensate for measurement dynamics and non-level sensor orientation. Fill level of remote combines can be estimated by utilizing their historical harvesting performance and elapsed time or area harvested. Failure and degradation of weight sensors is detected by testing sensor half bridges. Loading and unloading weights can be tied to specific vehicles by utilizing RF beacons. Display location diversity is enhanced utilizing a mirror located as necessary while reversing the displayed image.

REFERENCE TO RELATED APPLICATIONS

This application is a continuation under 37 C.F.R. § 1.53(b) of U.S.patent application Ser. No. 16/983,290 filed Aug. 3, 2020 now U.S. Pat.No. 11,274,958, which is a continuation under 37 C.F.R. § 1.53(b) ofU.S. patent application Ser. No. 15/526,731 filed May 12, 2017 now U.S.Pat. No. 10,760,946, which is a National Phase entry under 35 U.S.C. §371(c) of PCT Application No. PCT/CA2014/000810, filed Nov. 14, 2014,all of which are hereby incorporated by reference in their entirety.

BACKGROUND 1. Field of the Invention

The present invention relates to weighing dynamic loads and, morespecifically, to apparatus and method for weighing grain cart loads.

2. The Prior Art

FIGS. 1A and 1B are drawings that show a combine 20 loading grain 22from a field of grain 23 into a grain cart 10. FIG. 2 is a drawingshowing a grain cart 10 with a grain truck 24. Grain carts 10 arelarge-capacity pull-type trailers with a container 12 for grain 22, abuilt-in discharge auger 18, and capacities currently as high as 2,000bushels. A tractor 13 with grain cart 10 typically shuttles grain 22from a combine 20 in a field to a grain truck 24 located at the edge ofthe field. The grain carts 10 are typically loaded by or from a combine20, and then unloaded into a truck 24, with combines 20 and trucks 24typically utilized with one or more grain carts 10 to harvest fields ofgrain. The use of grain carts dramatically increases harvest efficiency,allowing combines 20 to operate nearly continuously with no need to stopto unload, especially since grain carts 10 can be loaded from combines20 while the combines and the grain cart they are loading move acrossthe field together in a synchronized manner. While the grain cart 10 isaway from the combine 20, the combine may continue to harvest the field,relying on its built-in hopper or grain container to buffer theharvested grain. After unloading to a waiting truck 24, the grain cart10 can then head back to receive grain from a (not necessarily the same)combine 20.

Early adopters experimented with cart-based weighing systems, whichquickly became standard equipment currently on roughly 80% of graincarts built in-factory. Weighing systems for grain carts allow thetracking of yields and help ensure that operators can accurately fillthe truck to capacity with little risk of incurring fines for overweightloads. Grain carts make the use of combines more efficient; weighingsystems can help make the whole process more efficient.

Grain cart weighing systems currently comprise two parts: weightsensors, and electronics that weigh the load and present information tothe user—often called “indicators”. Currently, weight sensors aretypically either load cells or weigh bars. Typically, a plurality ofweight sensors is utilized for each cart. In one typical configuration,there is one weight sensor for each wheel and one for the tow bar orhitch. In another typical configuration, there is a plurality of weightsensors spread out around the grain cart container. Systems offered bymarket incumbents provide a monolithic measurement and display terminaltypically situated in the tractor's cab with wires that connect back tothe grain cart weight sensors, which may have been combined through apassive junction box. In their simplest form, standard weigh scalefunctions are provided including: zero; tare; and net/gross toggle.Advanced systems provide grain management functions allowing harvestingdetails to be captured as transactions.

However, while conventional methods and technologies have gainedsignificant market acceptance, it has been noted that there are numerousissues with the current state of the art. Some of the recognizedproblems are as follows:

Measurement Dynamics.

While on-board weighing systems can generally provide accurate staticmeasurements on level ground, weight measurements can be compromised byforces that originate either on-cart (auger operation) or fromaccelerations due to drops and impacts with obstacles on uneven terrain.The degree of measurement contamination relates to the specific terrain,cart resonances, and vehicle velocity—higher speeds having a moresignificant adverse impact on accuracy. FIG. 3 is a graph thatillustrates the measurement dynamics that may be experienced whiletraversing a rough field, which contaminate the accuracy of the measuredpayload weight. This chart is an example of how measured weight canbounce around as a grain cart moves across a field. Weight sensorsmeasure force, which relates to mass and any applied accelerationsincluding that of gravity and those of vehicle dynamics encountered whena cart traverse uneven ground. When a bump results in an upwardacceleration the weight sensors see an increased force, and whendownward, a decreased force. This is true even if it were possible tomaintain the alignment of the weight sensor toward the center of theearth. Even while stopped, uneven ground can result in inaccurate weightmeasurement, since the axis of sensitivity of the weighing sensorbecomes misaligned with the gravity vector. This typically results inonly a fraction of the load being measured by the weighing sensor, sincethe acceleration or force vector is no longer in just the direction ofthe axis of sensitivity of the weight sensor but may include componentsin other directions.

Operations Tracking.

Lack of identification of the harvesting equipment (combine and truck)involved in grain transactions limits the usefulness of the collectedmanagement information. Although a grain cart operator could record suchinformation manually, operator error due to the monotony and exhaustionsuffered by cart operators leaves manually collected data unreliable.

No telemetric operational coordination currently exists between graincart and combine. The efficiency of harvest operations could beincreased through reception (or prediction) of combine fill-level andlocation for display to the grain cart operator.

Pre-emptive Weigh Bridge Failure Detection.

Quality on-cart grain weighing is predicated on having functional weightsensors, such as weigh bars. Over time, these devices can fail bydelamination of the internal strain gauges, vibrational stresses harminginternal wiring, or by physical damage to the bar or external wiring.The damage can occur slowly or abruptly depending on the failure mode,but in all cases ultimately affects the weighing performance. Theoperator may misdiagnose slow or even the catastrophic failures andcompensate for resulting measurement drifts or offsets by re-zeroing thescale indicator. Such remedies can result in weight inaccuracies anderroneous farm management data. If pre-emptively and properly diagnosed,defective sensors and wiring can be replaced before they impactproduction. However, there is no automated system or methodologyavailable to detect and isolate this problem.

Display Location Diversity.

Although a scale display terminal is useful in both the loading (fromcombine) and unloading (to truck) phases, a single display cannot bepositioned so that it may be viewed practically in both phases becausethe operator faces in opposing directions due to the relative locationsof combine and truck during loading and unloading. Currently, either twodisplays are required, which is complicated and costly, or the operatormust split his attention between the display and the grain transferitself, which is error prone and inefficient.

What is needed, therefore, is a method or methods that can address theabove identified problems in the current state of the art.

BRIEF SUMMARY OF THE INVENTION

This patent discloses and claims a useful, novel, and unobviousinvention for improved weighing and related operational and datamanagement functionality in the farm vehicle field.

According to a first aspect of the present invention, weight andsimultaneous three-axis accelerometer measurements are used tocompensate for at least some of the effect of non-level or roughterrain.

According to a second aspect of the present invention, a methodautomatically detects weights of grain transactions by differencing theweight signal as processed by two parallel low pass filters, each withdifferent pass characteristics.

According to a third aspect of the present invention, a method ofequipment usage tracking involves the use of beacons and signal strengthdetection as an indicator of proximity and therefore equipmentidentification.

According to a fourth aspect of the present invention, a method forestimating a combine's current fill level involves tracking combineperformance using load weight per unit time and per unit area harvested.

According to a fifth aspect of the present invention, a method ispresented for electrically testing weigh bars installed on a grain cart.

A detailed description of exemplary embodiments of the present inventionis given in the following. It is to be understood, however, that theinvention is not to be construed as being limited to these embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A and 1B are drawings that show a combine 20 loading grain 22into a grain cart 10;

FIG. 2 is a drawing showing a grain cart 10 with a grain truck 24;

FIG. 3 is a graph that illustrates the measurement dynamics that may beexperienced while traversing a rough field;

FIG. 4 is a drawing showing a grain cart 10 with weight sensors 14installed, in accordance with an exemplary embodiment of the presentinvention;

FIG. 5 is a drawing similar to the drawing shown in FIG. 3 , with a linefit to the data points utilizing least-squares;

FIG. 6A is a diagram that shows a standard weighbridge;

FIG. 6B is a diagram that shows diagnostic circuitry on a half bridge,in accordance with one embodiment of the present invention; and

FIGS. 7A and 7B are drawings that illustrate a tablet showingloading/unloading information. FIG. 7A shows the tablet normally, andFIG. 7B shows the tablet reversed.

DETAILED DESCRIPTION

The present invention differs from solutions offered by others as itdoes not have a monolithic topology, but instead uses a mobile device asthe display terminal, user interface, and processing engine, and whichconnects wirelessly to electronics located on a grain cart. The signalsfrom weight sensors are combined through use of a junction box; theresulting signal is then forwarded to the electronics for measurement,conversion, and transmission to the mobile device. Leveraging mobiledevices in the present invention reduces product cost, increasesprocessing capacity, and provides advanced data connectivity andnavigational capabilities, while enhancing customer familiarity and thusmarket acceptance. This topology is shown in FIG. 4 .

Exemplary embodiments of the present invention will now be describedwith reference to the appended drawings.

Measurement Dynamics.

Exemplary embodiments of the present invention can include techniques toassist with achieving improved weight and mass measurements as describedbelow, using accelerometer-compensated mass measurement.

Effects of non-level orientation and in-motion vibration can be reducedfrom mass measurements by compensating weight measurements withsimultaneous accelerometer measurements, given matching bandwidths. Oneexemplary embodiment uses STmicroelectronics LIS3DH three-axisaccelerometer integrated circuits as part of a printed circuit board,with one three-axis accelerometer mounted preferably near each of theweight sensors.

FIG. 4 is a drawing showing a grain cart 10 with weight sensors 14installed, in accordance with an exemplary embodiment of the presentinvention. The signals from each of the weight sensors are received byinterface electronics with on-board three-axis accelerometer 16. Theinterface electronics 16 perform signal measurement, conversion, andtransmission of the signals to a mobile device that may be located inthe tractor 13 towing the grain cart 10. In one embodiment of thepresent invention, Bluetooth Low Energy (BLE) is utilized to transmitthe signals wirelessly. Other transmission means are also within thescope of the present invention. In one embodiment of the presentinvention, the mobile device 17 receiving the signals is a tablet, suchas an iPad. Other mobile devices 17 are also within the scope of thepresent invention. Moreover, while the device 17 typically utilized inthe cab of the tractor 13 is mobile, it can also be permanentlyinstalled. Moreover, it can relay the information received, and theresults of calculations and computations performed to other deviceswirelessly or with a wired connection at a future time, for example, atthe end of the workday.

Newton's law of motion is applied as follows in a preferred embodiment:F=m*a  (1)where “m” is the total mass of payload and carrier; “F” is the totalinstantaneous force of the payload and carrier weights as seen by theweight sensors; and “a” is the instantaneous acceleration projectedalong the axis of measurement of the weight sensors

Two exemplary methods are shown below sharing various commonalities.Common to both exemplary methods are sensor mounting, determination ofreference gravity vector, and projection of the instantaneousacceleration measurements along the reference gravity vector.

Sensor Mounting:

Sensors are to be mounted as follows in the exemplary methods:

-   -   (1) Mount each single-axis weight sensor so that it is most        sensitive in the downward direction (toward the center of the        Earth) while the cart is stationary and on level ground. Other        configurations are also within the scope of the present        invention. However, this configuration is preferred, since it        easily allows a reference acceleration vector that aligns with        the axis of sensitivity of the weighing sensors to be recorded        when stopped on level ground.    -   (2) Mount one or more three-axis accelerometers in a convenient        orientation on the cart. In a preferred embodiment, one        accelerometer is mounted coincident with each weight sensor, and        a correction is preferably performed on the data from each        weight and accelerometer sensor pair. Other configurations are        also within the scope of the present invention.

Determination of Reference Gravity Vector:

Measure and record a vector of the static acceleration due to gravitywhile stationary and on level ground.

Projection of Accelerations along the axis of measurement of the weightsensors:

Accelerations projected along the axis of measurement of the weightsensor(s) (a) can be determined by performing the scalar product (dotproduct) of the measured acceleration and the reference gravity vector,which aligns with the axis of measurement of the weight sensors due tothe mounting method described above, and then dividing by the magnitudeof the reference gravity vector.

In the first exemplary method, Equation 1 can be rearranged to yieldmass as follows:m=F/a  (2)

The total force (F) is measured with respect to the weight offset (themeasured value seen under free fall). The weight offset occurs at thepoint of zero acceleration and represents offsets in the measurementapparatus including those of the weigh bars, amplifiers, and dataconverters. The total force (F) can thus be expanded to reflect the rawmeasured force (F_(MEAS)) and weight offset (k) as follows:m=(F _(MEAS) −k)/a  (3)

While it is impractical to measure the weight offset directly, a methodis disclosed to find it as follows:

1) While traveling with constant mass over rough terrain, record weight(F_(MEAS)) and acceleration data pairs.

2) Compute the projections of the acceleration data on the axis ofmeasurement of the weight sensors.

3) Estimate the weight offset (k) by computing the y-intercept of theleast-squares line estimate of weight (F_(MEAS)) and projectedaccelerations (see FIG. 5 ).

FIG. 5 is a drawing similar to the drawing shown in FIG. 3 , with a linefit to the data points utilizing least-squares. Once the weight offset(k) is known, the total mass (or weight under constant and knownacceleration) can be determined by the following:

-   -   1) Measure the instantaneous weight (F_(MEAS)) and        acceleration (a) data pair.    -   2) Compute the projection of the acceleration on the axis of        measurement of the weight sensors.    -   3) Compute the total mass (m) using equation 3.

A second method requires no regression. Instead, two weight (F_(MEAS))and acceleration (a) data pairs can be measured while traveling withconstant mass, and the accelerations projected along the axis ofmeasurement of the weight sensors (a). This provides two simultaneousequations and two unknowns based on Equation 3, thus allowing a solutionfor constant “k” using linear algebra techniques as follows:k=(F _(MEAS1) *a ₂ −F _(MEAS2) *a ₁)/(a ₂ −a ₁)  (4)

The weight offset (k) that is determined can be low-pass filtered oversubsequent measurements to reduce the noise bandwidth. The filter'scorner frequency can be set quite low, since “k” does not vary whilemass is constant. The input data may be gated (manually orautomatically) to ensure that the mass remains constant. Once the weightoffset (k) has been determined to be sufficiently well characterized (itno longer changes significantly), the total mass (or weight underconstant and known acceleration) can be determined using Equation 3.

With either exemplary method, the bandwidths of the weight andacceleration sensors should preferably be matched and the sampling timeshould be synchronized. In the exemplary embodiment, evaluation of theabove equations is performed within a processor of the electronics inorder to coordinate the measurements and reduce the needed radiobandwidth. The compensated measurements may then be forwarded to themobile device in the tractor cab.

Automatic Operations Tracking.

Exemplary methods of the present invention may include techniques to aidin tracking and auditing field operations as described below.

Automatic Equipment Determination.

For the purpose of automating tracking and auditing, an exemplary methodfor automatically determining the particular equipment used in anoperation is disclosed herein (for non-limiting example, a combine,truck, or trailer). According to this exemplary method, a wirelessbeacon device is placed on each piece of equipment, a receiver islocated at or near the operator, and the system automatically selectsfrom a list of allowed equipment types (for non-limiting example:combines or perhaps trucks) the equipment associated with the beacon ofhighest signal strength as the equipment used in an operation.

For a non-limiting example, while loading in the field, the combinecurrently loading the cart can be detected as closest and thus assignedto the transaction. Similarly, while unloading, a truck receiving thegrain can be detected as the closest truck and thus assigned to thetransaction. Combined with the time, location, and event details (forexample transactional weight) a detailed audit trail can be provided forfield operations.

In another non-limiting example, a list of detected equipment could bepresented to the user and a selection by the user could be used todetermine the equipment used in the operation. Before being presented tothe user this list could be further limited to detected equipment wherethe associated beacon signal strength exceeds a threshold. This may beuseful in cases where equipment is in close proximity such as whenmultiple trucks are waiting to be loaded with grain. In the case whereonly a single equipment has a beacon signal exceeding the threshold thatequipment could be automatically determined as the equipment used in theoperation.

The exemplary method uses stand-alone Bluetooth Low Energy (BLE)beacons, such as those currently available from Gelo Inc., mounted toeach piece of equipment, and configured to periodically provide itsidentity. A mobile device mounted in the tractor cab monitors theannouncements (e.g., Bluetooth “advertisements”) and processes theevents in the manner disclosed in order to determine the nearestequipment. Other embodiments could include using an additional mobiledevice, acting as a beacon, mounted in the cab of the equipment beingmonitored (the truck or combine cab for non-limiting example). This isexemplary, and other configurations and implementations are also withinthe scope of the present invention.

Estimation of Combine Fill Level.

Another exemplary method is used to estimate the combine's current filllevel while harvesting in order to facilitate operations in the field.By tracking the performance of each combine (load weight per unit time),the method can predict combine fill level using linear extrapolation asfollows:{circumflex over (F)}(t)=ΣF _(LoAD) /Δt _(LOAD) *t  (5)Where {circumflex over (F)} is the estimate of combine fill weight withtime (t) since the last load; ΣF_(LoAD) is the accumulated weight of theN most recent loads; and Δt_(LoAD) is the time between the most recentload and the one preceding the N^(th) last load.

This exemplary method uses a value of one (1) for the window size (N).This exemplary method uses the processor of the mobile device to processweights of loads and the time between such in order that it estimate thecombine's current fill level. Other configurations are also within thescope of the present invention. This estimate can be improved by insteadusing GPS locations services so that the system tracks combineperformance per unit of field area harvested instead of per unit time.In this case, combine performance is rated as load weight per areaharvested between loads. This method can predict combine fill levelusing linear extrapolation as follows:{circumflex over (F)}(a)=ΣF _(LOAD) /Δa _(LOAD) *a  (6)

Where {circumflex over (F)} is the estimate of combine fill weight witharea harvested (a) since the last load; ΣF_(LoAD) is the accumulatedweight of the N most recent loads; and Δa_(LOAD) is the area harvestedbetween the most recent load and the one preceding the N^(th) last load.

This exemplary method uses a value of one (1) for the window size (N).This exemplary method computes the area harvested as the line-integralof the path traveled, multiplied by the harvester's header width,subtracting that portion of the swath that overlapped previouslyharvested swaths. The overlap is determined using a high-resolution gridrepresenting the field whereby each harvested grid location gets markedso as to be excluded on subsequent paths. This exemplary method uses agrid size of one foot (1′) squared. Other configurations are also withinthe scope of this invention.

This exemplary method uses the processor of a mobile device in thetractor cab to process weights of loads as measured, along with thecombine's current GPS location as measured and forwarded from a mobiledevice, mounted in the combine cab, over the wireless Internet cellularinfrastructure. This is exemplary, and other configurations are alsowithin the scope of the present invention.

In one embodiment the method further includes directing a grain cart tounload a first combine when the current fill level for the first combineexceeds a pre-specified threshold.

In another embodiment, the method further includes calculating anestimate of the current fill level for a second combine in the samemanner as the estimate for the current fill level for the first combinewas calculated; calculating a maximum estimated fill level from theestimated fill levels of each of a set of combines that comprise thefirst combine and the second combine; and directing a grain cart to aone of the set of combines corresponding to the maximum estimated filllevel.

Although this method requires that information be shared between acombine and a cart, connectivity need not be continuous as the systemcan fall back to using time-based prediction during periods when thenetwork is unavailable.

Automatic Weigh Bridge Health Detection.

Exemplary embodiments of the present invention may include a techniqueto electrically test the weigh bars or load cells while installed on thegrain cart.

The technique performs operations to test all four resistors that formthe standard weighbridge arrangement. The technique will also work wheremultiple weigh bars or load cells of a cart are wired in parallel (alllike terminals wired together), so that the measured value for eachweighbridge resistor approximates that of the parallel combination ofall like resistors. This makes the measurement less sensitive by afactor of approximately the total number of weigh bars, and someasurement precision must be sufficient to reveal any anomalies.

FIG. 6A is a diagram that shows a standard weighbridge. FIG. 6B is adiagram that shows diagnostic circuitry on a half bridge, in accordancewith one embodiment of the present invention. The analysis preferablysplits the weighbridge symmetrically into left and right halves (seeFIG. 6B). This is possible because the excitation connections aretypically low impedance voltage sources (in the exemplary embodiment,positive and ground voltage rails).

In FIG. 6B, the voltmeter (circle with “V”) of the full bridge (FIG. 6A)has been decomposed into the buffer (BUF) and analog to digitalconverter (ADC) of the half bridge.

The analysis solves for the two half bridge resistors by measuring thevoltage at the midpoint under various conditions and with differentvoltage references. The first step measures the ratio of the voltagedivider formed by the two resistors while the current source isdisabled. This is done using the excitation voltage (V_(CC) and Ground)as the reference for the ADC.

The next step uses a fixed voltage reference (often available internalto the ADC) and the ADC to measure the voltage at the midpoint of thehalf bridge while the current source is disconnected. This step isrepeated with the current source connected.

Using network analysis techniques, the value of the top resistor canthen be found as follows:R _(TOP)(V _(MID2) −V _(MID1))/(I*RATIO)  (7)

Where R_(TOP) is the resistance of the top resistor; V_(MID1) andV_(MID2) are the voltages measured at the midpoint of the half bridgewith the switch open and closed respectively; I is the value of theconstant current source; and RATIO is the measured ratio of the midpointvoltage with respect to the excitation voltage, with no current source.

Similarly, the value of the bottom resistor can be found as follows:R _(BOT)=(V _(MID2) −V _(MID1))/(I*(1−RATIO))  (8)Where V_(MID1), V_(MID2), I, and RATIO are defined previously, andR_(BOT) is the resistance of the bottom resistor. In this exemplaryembodiment, the processor of the electronics can perform the healthmeasurements as directed by a mobile device in the tractor cab. Otherconfigurations are also within the scope of the present invention.

Exemplary embodiments may also include a method to isolate individualweight sensors that have been combined as would be done through use of ajunction box 15 (see FIG. 4 ), so that health detection can be performedon individual weight sensors in order to provide more thoroughdiagnostic capability. This embodiment involves replacing the passivejunction box for which the like terminals of all weight sensors arepermanently joined, with instead an active junction box whereby allconnections for each weight sensor can be individually connected to (ordisconnected from) the measurement electronics through use of digitallycontrolled switches, in order to present any possible combination of theweigh bars. In the exemplary embodiment, the measurement electronicscontrol the switches of the active junction box. This is exemplary, andother configurations are also within the scope of the present invention.

This invention provides a number of different alternatives andembodiments. In one embodiment, the invention can be utilized to troubleshoot weight sensors that do not appear to be operating correctly. Pairsof resisters in the half bridges are serially tested, with note beingtaken whenever the results of the testing are problematic. In anotherembodiment, the weight sensors are tested on a routine or somewhatroutine basis. For example, they may be tested on a periodic basis, ormay be tested daily whenever the system is started. Other alternativesare also within the scope of the invention. A controller may send analert when problems are discovered, or flags or codes set indicatingproblems. This allows weight sensors to be repaired or replaced beforethey fail or are inaccurate enough to affect operations. Otherconfigurations and alternate usages are also within the scope of thepresent invention.

Enhanced Display Location Diversity.

Exemplary embodiments of the present invention may include a method toincrease the diversity of display locations while in operation. Adisplay is located for convenient viewing in one of the two graintransfer phases (loading or unloading). During the other phase, theoperator views the display through a mirror positioned at an angle thatis convenient for viewing during that phase; the mirror reflects animage that is deliberately reversed by the display equipment so that itbecomes restored through reflection. Control of the reversing processcould be applied automatically to reduce the burden on the equipmentoperator. For non-limiting example, reversing control could be linked tothe automatic transaction detection method whereby the display isautomatically reversed while unloading. In this case, the display wouldbe mounted for convenient viewing during loading (combine to cart), andthe mirror used while unloading (cart to truck). The opposite scenariowould also be possible, whereby the mounting locations and reversingcontrol are each reversed. Other configurations are also within thescope of the present invention.

FIG. 7A is a drawing that illustrates a tablet showing loading/unloadinginformation. FIG. 7B is a drawing showing the same tablet shown in FIG.7A but reversed. The information shown in these displays is exemplary,and the display of other information and other configurations of thedisplay are also within the scope of the present invention.

A user selectable element (not shown) such as a button or checkbox couldbe present in the user interface allowing the user to manually choosebetween the regular and reversed display. This may be useful for testingpurposes, in the case the automatic detection fails to work, or simpleuser preference.

The device could also be configurable to disable one or more of thedisplay reverse methods. For example, a user may desire to disable theautomatic reverse because it is not useful in their work scenario. Inanother example, a user may desire to disable the user-selectableelement because the automatic reverse meets their needs, and they wantmore room on the display. This configurability could be present via anoptions or configuration menu in the user interface. Otherconfigurations and options are also within the scope of the presentinvention.

The present invention is targeted at grain cart applications, but isequally applicable for use with other equipment, such as combines,trucks, planters, air seeders, and seed tenders. These types ofequipment are exemplary, and other types are also within the scope ofthe present invention. In all cases, the invention can improve weighingperformance, data quality, sensor diagnostics, and automates andenhances field operations.

Those skilled in the art will recognize that modifications andvariations can be made without departing from the spirit of theinvention. Therefore, it is intended that this invention encompass allsuch variations and modifications as fall within the scope of theappended claims.

What is claimed is:
 1. A method for directing a cart, the methodcomprising: calculating automatically, by a processor of a computersystem, a total fill weight for a first combine based on a specifiedmetric; calculating automatically, by the processor, an estimate of fillrate, based on the specified metric; calculating automatically, by theprocessor, an estimate of a current fill level for the first combine;and directing, by the processor, the cart to unload the first combinewhen the current fill level for the first combine exceeds apre-specified threshold.
 2. The method of claim 1, wherein thecalculating of the total fill weight for the first combine furthercomprises summing cart fill weights for all unloading operations for thespecified metric.
 3. The method of claim 1, wherein the calculating ofthe estimate of fill rate further comprises dividing the total fillweight by the specified metric.
 4. The method of claim 1, wherein thecalculating of the estimate of the current fill level for the firstcombine further comprises multiplying the fill rate for the firstcombine by the specified metric since last unloading for the firstcombine.
 5. The method of claim 1, further comprising: calculating, bythe processor, an estimate of the current fill level for a secondcombine; calculating, by the processor, the pre-specified threshold as amaximum estimated fill level from the estimated fill levels of each ofthe first combine and the second combine; and determining that theestimated current fill level of the first combine corresponds to thecalculated maximum estimated fill level.
 6. The method of claim 1,wherein: the specified metric comprises at least one of area harvestedby the first combine and time.
 7. The method of claim 1, wherein: thespecified metric comprises area harvested; and GPS location services areutilized to calculate combine performance per unit of field areaharvested.
 8. The method of claim 1, wherein the computer systemcomprises a mobile device.
 9. The method of claim 1, wherein the cartcomprises one of a grain cart, a truck, a planter, an air seeder, and aseed tender.
 10. A method for directing a grain cart, the methodcomprising: calculating automatically, by a first processor coupled witha first mobile device mounted on a tractor coupled with the grain cart,a total fill weight for a first combine based on a specified metric;calculating automatically, by the first processor, an estimate of fillrate based on the specified metric; calculating automatically, by thefirst processor, an estimate of a current fill level for the firstcombine; and directing the grain cart coupled with the tractor to unloadthe first combine when the current fill level for the first combineexceeds a pre-specified threshold.
 11. The method of claim 10, wherein:the calculating of the total fill weight for the first combine furthercomprises summing grain cart fill weights for all unloading operationsfor the specified metric; the calculating of the estimate of fill ratefurther comprises dividing the total fill weight by the specifiedmetric; and the calculating of the estimate of the current fill levelfor the first combine further comprises multiplying the fill rate forthe first combine by the specified metric since last unloading for thefirst combine.
 12. The method of claim 10, wherein: the specified metriccomprises at least one of area harvested by the first combine and time.13. The method of claim 10, further comprising: calculating, by thefirst processor, an estimate of the current fill level for a secondcombine; calculating, by the first processor, the pre-specifiedthreshold as a maximum estimated fill level from the estimated filllevels of each of the first combine and the second combine; anddetermining that the estimated current fill level of the first combinecorresponds to the calculated maximum estimated fill level.
 14. Themethod of claim 10, further comprising: determining, by a secondprocessor of a second mobile device mounted in the first combine, a GPSlocation of the first combine, wherein the second mobile device isconnected with the first mobile device via a network; forwarding, by thesecond processor, the GPS location of the first combine to the firstprocessor; and calculating, by the first processor, a combineperformance per unit of field area harvested using the GPS location ofthe first combine, wherein the specific metric is area harvested by thefirst combine.
 15. The method of claim 14, further comprising:switching, by the first processor, to using time as the specified metricwhen the connectivity between the first mobile device and the secondmobile device is not available.
 16. A computer system for directing acart, the computer system comprising: a processor coupled with acomputer system, the processor configured to: calculate, automatically,a total fill weight for a first combine based on a specified metric;calculate automatically, an estimate of fill rate based on the specifiedmetric; calculate automatically an estimate of a current fill level forthe first combine; and direct a cart using the estimate of the currentfill level for the first combine to unload the first combine when thecurrent fill level for the first combine exceeds a pre-specifiedthreshold.
 17. The computer system of claim 16, wherein the processor isfurther configured to: calculate the total fill weight for the firstcombine by summing cart fill weights for all unloading operations forthe specified metric; and calculate the estimate of fill rate bydividing the total fill weight by the specified metric.
 18. The computersystem of claim 16, wherein the processor is further configured to:calculate the estimate of the current fill level for the first combineby multiplying the fill rate for the first combine by the specifiedmetric since last unloading for the first combine.
 19. The computersystem of claim 16, wherein: the specified metric comprises at least oneof area harvested by the first combine and time.
 20. The computer systemof claim 16, wherein the processor is further configured to: calculatean estimate of the current fill level for a second combine; calculatethe pre-specified threshold as a maximum estimated fill level from theestimated fill levels of each of the first combine and the secondcombine; and determine that the estimated current fill level of thefirst combine corresponds to the calculated maximum estimated filllevel.